Influence of laser energy input mode on joint interface characteristics in laser brazing with Cu-base filler metal

The flange butt joints of 1 mm-thick galvanized steel sheets were brazed with CuSi3 as filler metal at different laser heating modes.The microstructures and element distributions of joint interface were investigated by SEM and EDS.The results show that there is no obvious interface layer with the circular individual beam heating and lamellar Fe-Si intermetallic compound layer is found with dual-beam laser spot heating.With the irradiation of rectangular laser spot,the joint interface layer is also formed.The layer thickness is larger than that of dual-beam brazing and the layer shape is flat so that intermetallic compounds trend to grow into cellular crystals.Moreover,the interface layer shape also depends on its position in the joint.Under the high heat input,dendritic or granular intermetallic compounds dispersively distribute in brazing seam adjacent to the interface,which is caused by the melting or dissolving of the base metal.According to the results,the brazing quality can be controlled by laser heating mode and processing parameters.

Voltage-Mode Universal Biquad Filter Employing Single Voltage Differencing Differential Input Buffered Amplifier

A new multi function voltage-mode universal biquadratic filter using single Voltage Differencing Differential Input Buffered Amplifier (VD-DIBA), two capacitors and one resistor is proposed. The proposed configuration has four inputs and one output and can realize all the five standard filters from the same circuit configuration. The presented biquad filter offers low active and passive sensitivities. The validity of proposed universal biquadratic filter has been verified by SPICE simulation using 0.35 μm MIETEC technology.

Adaptive Sliding-Mode Control of an Automotive Electronic Throttle in the Presence of Input Saturation Constraint

In modern vehicles, electronic throttle(ET) has been widely utilized to control the airflow into gasoline engine. To solve the control difficulties with an ET, such as strong nonlinearity,unknown model parameters and input saturation constraints,an adaptive sliding-mode tracking control strategy for an ET is presented. Compared with the existing control strategies for an ET, input saturation constraints and parameter uncertainties are adequately considered in the proposed control strategy. At first, the nonlinear dynamic model for control of an ET is described. According to the dynamical model, the nonlinear adaptive sliding-mode tracking control method is presented,where parameter adaptive laws and auxiliary design system are employed. Parameter adaptive law is given to estimate the unknown parameter with an ET. An auxiliary system is designed,and its state is utilized in the tracking control method to handle the input saturation. Stability proof and analysis of the adaptive sliding-mode control method is performed by using Lyapunov stability theory. Finally, the reliability and feasibility of the proposed control strategy are evaluated by computer simulation.Simulation research shows that the proposed sliding-mode control strategy can provide good control performance for an ET.

Constrained sliding mode control of nonlinear fractional order input affine systems

Asymptotic stability of nonlinear fractional order affine systems with bounded inputs is dealt.The main contribution is to design a new bounded fractional order chattering free sliding mode controller in which the system states converge to the sliding surface at a determined finite time.To eliminate the chattering in the sliding mode and make the input controller bounded,hyperbolic tangent is used for designing the proposed fractional order sliding surface.Finally,the stability of the closed loop system using this bounded sliding mode controller is guaranteed by Lyapunov theory.A comparison with the integer order case is then presented and fractional order nonlinear polynomial systems are also studied as the special case.Finally,simulation results are provided to show the effectiveness of the designed controller.

水稻种植模式与秸秆还田方式对土壤养分的影响

为探明水稻不同种植模式与还田方式下土壤养分含量的变化。以辽星21号为试验材料,在大田条件下,比较移栽与直播种植2种模式下秸秆还田、炭化还田和不还田3种方式土壤中有机碳、速效氮、速效磷、速效钾、全氮、全磷、全钾含量的差异。研究结果表明,直播种植模式较移栽方式土壤速效磷含量、速效钾含量和全磷含量增加0.9%、5.4%和7.1%,生物炭还田较不还田处理分别显著增加土壤有机碳含量、速效钾含量、全氮含量和全磷含量9.6%、20.1%、5.3%和8.1%。因此,直播种植结合生物炭还田可作为提高农田肥力、改善土壤养分的一项促进北方寒地稻田资源再利用有效措施。

Nonsingular terminal sliding mode approach applied to synchronize chaotic systems with unknown parameters and nonlinear inputs

This paper deals with the design of a novel nonsingular terminal sliding mode controller for finite-time synchro-nization of two different chaotic systems with fully unknown parameters and nonlinear inputs. We propose a novel nonsingular terminal sliding surface and prove its finite-time convergence to zero. We assume that both the master＇s and the slave＇s system parameters are unknown in advance. Proper adaptation laws are derived to tackle the unknown parameters. An adaptive sliding mode control law is designed to ensure the existence of the sliding mode in finite time. We prove that both reaching and sliding mode phases are stable in finite time. An estimation of convergence time is given. Two illustrative examples show the effectiveness and usefulness of the proposed technique. It is worthwhile noticing that the introduced nonsingular terminal sliding mode can be applied to a wide variety of nonlinear control problems.

基于多模式分解和多分支输入的光伏功率超短期预测

针对光伏发电功率随机性强、波动性大导致其预测精度不高的问题,提出一种基于自适应近邻传播聚类(adaptive affinity propagation clustering,adAP)、多模式分解、多分支输入组合的光伏功率预测方法。首先,基于相关性分析找到与光伏发电功率高度相关的气象因素,并利用快速傅里叶变换(fast Fourier transform,FFT)将光伏输出功率从时域转换到频域,与相关度高的气象因素一起作为adAP算法的聚类特征,对具有相似气象特征的日场景进行分类;其次,对聚类相似日较少且输出功率波动剧烈天气类型中的气象相关因素和光伏输出功率添加高斯白噪声,并将其与原始数据合并,达到倍增样本的效果,以提升模型的泛化能力和鲁棒性;然后,使用变分模态分解(variational mode decomposition,VMD)、奇异谱分解(singular spectrum decomposition,SSD)和群分解(swarm decomposition,SWD)对光伏功率、辐照度和温度进行分解,削弱原始序列的波动性,丰富模型的输入特征;最后,搭建多分支的残差网络(residual network,ResNet)和长短期记忆网络(long short term memory network,LSTM)模型,提取数据的时间特征和波动特征,合并后输入到门控循环单元网络(gated recurrent unit network,GRU)中,建立历史特征和未来光伏输出功率的联系,得到预测结果。实验结果表明,所提出的多模型组合预测方法在光伏功率波动较缓天气情况下,能够保持较高的预测精度;在波动剧烈天气情况下,能够较大地提升预测精度。

带有避障约束的分布式导弹编队饱和控制器设计

对带有外界干扰、输入受限、规划航路存在未知障碍物情形下的导弹编队控制问题进行了研究。首先,基于导弹非线性动力学模型,通过定义位置、速度误差变量,建立了考虑外界干扰的绝对误差导弹编队控制模型。其次,在提出基于避障势函数和双曲正切函数非线性滑模面的基础上,利用自适应技术和抗饱和辅助系统,设计了自适应抗饱和鲁棒导弹编队避障控制器。最后,借助Lyapunov稳定性理论证明了所设计系统状态为渐近稳定的,并通过数字仿真验证了所设计控制策略的有效性。

基于VMD的MAG焊输入端电信号频域分析

通过电信号采集平台,对焊机输入输出端电信号进行同步采集.分析弧焊电源整流电路,对输入电信号进行整流处理得到输入电压与电流,最终计算得到弧焊电源的输入功率.经过对比发现输出电流与瞬时输入功率峰值变化趋势基本一致.论述了变分模态分解(VMD)原理及方法,并对瞬时输入功率进行分解,得到一系列特征BLIMFs信号.通过对不同过渡模式(大滴过渡、短路过渡和混合过渡)下瞬时输入功率信号、特征IMF信号和焊接输出电流信号在频域上的对比分析,发现VMD能够有效得到低频(IMF1)、中频(IMF2)和高频信号(IMF3),且中频和高频信号表现出了焊机不控整流的脉动信息(300 Hz)以及电网的干扰.而低频IMF1信号与焊接输出电流信号频域一致性良好,并在时域上也有良好的一致性.结果表明了通过对输入瞬时功率的VMD,其低频分量能够有效表征焊接过程,从而为从输入端评定过渡过程稳定性提供了一种新思路.

自适应量化神经网络滑模无人船编队控制

针对复杂海洋环境下欠驱动水面无人船(unmanned surface vehicle,USV)编队控制存在的模型不确定性、参数摄动、控制输入量化等问题,提出一种自适应量化神经网络滑模控制算法。在USV运动学子系统中,设计基于内外环控制策略的制导律,解决USV欠驱动问题。由于所采用的动力学模型中含有未知项和外界环境干扰,故在USV动力学子系统中通过使用径向基函数神经网络实现对干扰的估计。采用一种线性解析模型来描述输入量化过程。所设计的控制系统不需要量化参数的先验信息。基于输入-状态稳定性理论证明了系统稳定性。通过仿真实验验证了所提算法的有效性。

考虑输入饱和的机械臂轨迹跟踪滑模控制

针对复合干扰和输入饱和特性影响机械臂轨迹跟踪精度的问题,给出了一种基于输入饱和补偿的自适应积分滑模控制策略。首先,基于自适应控制方法设计了辅助函数,以消除输入饱和特性的影响;其次,利用所估计的复合干扰上限,结合非奇异积分终端滑模控制方法设计轨迹跟踪控制律,使跟踪误差快速收敛至零的邻域,且削弱了抖振,经过Lyapunov稳定性定理的证明,该算法可以保证轨迹跟踪误差的有限时间收敛性;最后,通过仿真与实验手段,与自适应非奇异快速终端滑模控制方法的对比验证了所提控制方法的有效性。结果表明:机械臂各关节在仿真和实验中分别可以在0.5 s和0.8 s内跟踪上期望轨迹,跟踪误差能降低到1.2×10^(-3)rad和8.7×10^(-3)rad内,有效解决机械臂输入饱和问题和复合干扰对系统轨迹跟踪控制精度的影响。

一款高效率宽输入电压边界导通模式反激变换器

本文提出了一款高效率、宽输入电压的边界导通模式反激变换器结构。为了防止负载切换过程中芯片过压和欠压,提出了一种由电流调节电路(CRC)与自适应频率控制电路(AFCC)组成的新型模式切换环路,实现了芯片在不同模式之间的平滑切换,提高了负载的瞬态响应和转换效率;通过在环路中引入电流调节控制技术,减小了低纹波突发模式(LRBM)下的原边充电电流和输出最小负载电流,从而减小轻负载下的开关频率,降低功耗。基于0.18μmBCD工艺,实现了电路设计和版图设计,芯片面积为1.48×2.5mm^(2)。仿真结果表明,变换器在输入电压为3~32V、输出电压为5V时,轻、重负载切换过程中的输出电压瞬态响应最大变化为6%,峰值转换效率为88.6%。

基于扩张状态观测器和抗饱和输入的伺服电机等效反步滑模控制

为了提高伺服电机系统的动态响应速度、抗干扰能力,解决输入饱和的问题,课题组基于扩张状态观测器(extended state observer,ESO)和抗饱和输入(anti-saturation input,ASI)辅助系统设计了伺服电机的运动控制方案。首先,建立了伺服电机的数学模型,将系统阻尼和系统不确定性归为扰动,将扰动设为系统的扩张状态;然后在等效反步滑模控制(backstepping sliding mode control,BSMC)的基础上,引入了ASI辅助系统和ESO,解决输入饱和问题,并抑制内、外干扰;采用双曲正切饱和函数替换符号函数以减小滑模控制的抖振;通过李雅普诺夫稳定性方法检验所提出控制器的稳定性。最后,将基于ESO和ASI的等效反步滑模控制与比例积分微分(proportional integral differential,PID)控制、滑模控制(sliding mode control,SMC)进行仿真对比。结果表明:相较于传统PID和SMC控制器,课题组所设计的控制器可以实现伺服电机的无超调快速响应,解决了输入饱和问题,并具有较好的抗干扰能力和减小输入冲击的作用。

双模功率分流式混合动力汽车传动系统设计

针对双模功率分流式混合动力汽车传动系统的构型,首先,对比分析了单、双模式混合动力系统结构特征及应用范围;然后,结合复合分配式特点,选定3种复合分配式四结点杆模型,通过逆向拆分得到所有可行的复合分配式构型,并根据杆长度和特征参数约束条件,确定构型方案;最后,在此基础上,参考某款车型参数,通过分析输入分配模式、模式切换点和机械点特性确定第3排行星排和离合器位置及结构参数,设计出传动系统构型,为研究双模功率分流式混合动力汽车传动系统提供理论依据。

输入电压波动下变模态宽增益谐振变换器研究

针对传统LLC谐振变换器在宽输入下开关损耗过大、增益范围较窄、难以保持输出稳定的问题,研究一种变模态宽增益谐振变换器。该变换器及其控制策略能够依据输入电压的大小,在全桥和半桥两种模态之间自由切换,有效拓宽电压增益范围。通过对变换器谐振腔结构的优化,进一步拓宽增益,减小能量循环、降低开关管损耗,同时能够在电流传输中引入三次谐波,降低损耗。利用基波近似法对电压增益进行推导,绘制增益曲线图,分析谐振参数对电压增益的影响,根据需求设计合适的参数,并运用变频控制,通过调节输入电压,使得变换器运行在不同模态,实现电压平稳输出。搭建一台55~220 V输入、30 V输出的300 W实验样机,实验结果证明了所提变换器控制策略的有效性。

中国省际贸易隐含PM_(2.5)排放转移及其环境公平性研究

本文首先基于多区域投入产出模型,结合能源驱动的PM_(2.5)排放清单,构建了2017年中国环境拓展的多区域投入产出表。而后,以生产侧与消费侧的双视角测算了2017年我国30个省份贸易中隐含PM_(2.5)排放与增加值的转移特征,并基于排放与增加值的净转移矩阵借助区域环境不公平指数对省际贸易中PM_(2.5)污染排放与经济利益交换的公平性进行测度。结果表明,省际贸易中隐含PM_(2.5)与隐含增加值的转移流向相反,中部与东北等相对欠发达地区是隐含PM_(2.5)的主要流入地,而沿海地区发达省份是隐含增加值的主要流入地。发达省份通过省际贸易既可一定程度上避免PM_(2.5)污染也可获得来自外省(区、市)的经济利益,具有环境与经济的双优势,而部分欠发达省份则是环境与经济双失。区域环境不公平指数的测度结果表明,发达省份与欠发达省份之间存在明显的差值,欠发达地区在省际贸易中面临相对明显的环境不公平挑战。最后,建立了省际贸易污染补偿机制与方案以缓解环境不公平性。

Ka波段大回旋电子注介质加载回旋行波管输入耦合器研究

针对Ka波段大回旋电子注回旋行波管设计了一个TE 21模式输入耦合器。该输入耦合器结构为Y形功分器,将输入的矩形波导TE 10模式转换为圆波导的TE 21模式进行输出。本文对其转换原理进行了简要介绍,通过仿真确定了输入耦合器模型的参数,并加工出部件,并进行了实际测试,测试的结果满足Ka波段大回旋行波管的信号输入要求。

一种高共模电压集成差分放大器的设计

针对差分放大器芯片国产化的需求,基于兼容金属薄膜电阻40 V双极工艺,设计一款高共模抑制比(Common Mode Rejection Ratio,CMRR)、±120 V共模输入电压的集成差分放大器。文章介绍了高共模电压差分放大器的基本原理和结构组成,分析了差分放大器的设计难点,分别为共模抑制比、输入失调电流以及增益误差,采用片内集成金属薄膜电阻结合激光在线修调技术实现高共模抑制比、通过改进型的基极电流补偿结构降低了输入失调电流,减少输入失调电流对电路采样精度的影响,采用改进型达林顿管提高放大器的开环增益,降低放大器的增益误差。整体芯片尺寸为2.82 mm×2.02 mm,采用±15 V双电源供电,静态电流为1.36 mA。流片后的测试结果表明:差分放大器在正常供电时,共模抑制比达到85 dB,输入失调电流仅为84 pA,失调电流的补偿精度达到98.1%,增益误差为0.02%。

Secure state estimation for cyber-physical systems with unknown input sliding mode observer

In recent years, cyber attacks have posed great challenges to the development of cyber-physical systems. It is of great significance to study secure state estimation methods to ensure the safe and stable operation of the system. This paper proposes a secure state estimation for multi-input and multi-output continuous-time linear cyber-physical systems with sparse actuator and sensor attacks. First, for sparse sensor attacks, we propose an adaptive switching mechanism to mitigate the impact of sparse sensor attacks by filtering out their attack modes. Second, an unknown input sliding mode observer is designed to not only observe the system states, sensor attack signals, and measurement noise present in the system but also counteract the effects of sparse actuator attacks through an unknown input matrix. Finally, for the design of an unknown input sliding mode state observer, the feasibility of the observing system is demonstrated by means of Lyapunov functions. Additionally, simulation experiments are conducted to show the effectiveness of this method.

基于事件触发的水面无人艇无模型容错饱和控制

针对外界未知扰动、无人艇模型动态参数无法获取、推进器饱和及故障水面无人艇轨迹跟踪控制问题,本文提出一种基于事件触发的水面无人艇无模型饱和容错控制方法。利用无模型参数滑模控制结构,使参数误差收敛至残差集。该方法对参数变化具有良好的鲁棒性能。控制器中引入饱和函数及容错方法来补偿由于执行机构故障和饱和所产生的推力损失。为节约有限的通信资源和系统能量,在执行机构和控制器之间部署事件触发机制,采用事件触发通讯机制产生分段控制信号,降低执行机构的更新频率。仿真结果表明所提出基于事件触发的饱和容错方法能够使跟踪误差和速度误差收敛至可容许范围内,证明所提算法的优越性和可靠性。